ardupilot/libraries/AP_HAL_PX4/Util.h

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#ifndef __AP_HAL_PX4_UTIL_H__
#define __AP_HAL_PX4_UTIL_H__
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_PX4_Namespace.h"
class PX4::NSHShellStream : public AP_HAL::Stream {
public:
size_t write(uint8_t);
size_t write(const uint8_t *buffer, size_t size);
int16_t read();
int16_t available();
int16_t txspace();
private:
int shell_stdin = -1;
int shell_stdout = -1;
pthread_t shell_thread_ctx;
struct {
int in = -1;
int out = -1;
} child;
bool showed_memory_warning = false;
bool showed_armed_warning = false;
void start_shell(void);
void shell_thread(void);
};
class PX4::PX4Util : public AP_HAL::Util {
public:
PX4Util(void);
bool run_debug_shell(AP_HAL::BetterStream *stream);
enum safety_state safety_switch_state(void);
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/*
set system clock in UTC microseconds
*/
void set_system_clock(uint64_t time_utc_usec);
/*
get system identifier (STM32 serial number)
*/
bool get_system_id(char buf[40]);
uint32_t available_memory(void) override;
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/*
return a stream for access to nsh shell
*/
AP_HAL::Stream *get_shell_stream() { return &_shell_stream; }
perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
void perf_begin(perf_counter_t ) override;
void perf_end(perf_counter_t) override;
void perf_count(perf_counter_t) override;
private:
int _safety_handle;
PX4::NSHShellStream _shell_stream;
};
#endif // __AP_HAL_PX4_UTIL_H__